JP2017006371A5

JP2017006371A5 -

Info

Publication number: JP2017006371A5
Application number: JP2015124902A
Authority: JP
Filing date: 2015-06-22
Publication date: 2018-07-12
Anticipated expiration: 2035-06-22

Description

例えば、ランニング時の身体の使い方における左右のバランスを調べるためには、ランニング中に計測される様々な事象が、右足の着地に起因するものか、左足の着地に起因するものかを、運動指標として判定することが重要である。このような左右の足の着地判定については、例えば特許文献１に、センサ（計測器）を装着した姿勢における左右方向の回転量を用い、最大回転量となる方向（プラス方向かマイナス方向か）に基づいて、一歩を成す脚の左右を判定する手法が記載されている。 For example, in order to examine the left-right balance in how the body is used during running, whether the various events measured during running are due to landing on the right foot or landing on the left foot It is important to judge as The landing determination of such left and right feet, for example, in Patent Document 1, using the amount of rotation of the horizontal direction of orientation of mounting a sensor (meter), or the maximum amount of rotation and comprising direction (plus direction or minus direction ), A method for determining the left and right of a leg that makes a step is described.

一般に、ランニング時における身体の動きは、腰部分と胸部分の鉛直軸回りの回転が逆方向になることが知られている。しかしながら、ランニング動作において、スピードを上げた場合には、胸部分の回転が腰部分の回転よりも大きくなって、鉛直軸における回転の中間点（回転方向が切り替わる中心点）が腰に近い位置に移動することになる。そのため、センサ機器を人体の体幹軸上、例えば、腰に装着してランニング時の動作を計測する場合、ランニング時の振動等によりセンサ機器の装着位置が上下にずれることによって、腰部分の回転が適切に検知されにくくなり、左右の足の着地判定が不安定になったり不正確になったりするという問題を有している。 In general, it is known that the body movement during running is such that the rotation of the waist and chest around the vertical axis is reversed. However, when the speed is increased during running, the rotation of the chest part becomes larger than the rotation of the waist part, and the midpoint of rotation on the vertical axis (the center point at which the rotation direction changes) is closer to the waist. Will move. Therefore, when the sensor device is mounted on the trunk axis of the human body, for example, on the waist and the movement during running is measured, the rotation of the waist part is caused by the shift of the mounting position of the sensor device due to vibration during running, etc. Is difficult to detect properly, and the landing determination of the left and right feet becomes unstable or inaccurate.

そこで、本発明においては上記問題点に鑑みて、センサ機器を人体の体幹軸上で装着した場合であっても、正確に左右の足の着地判定を行うことができる運動支援装置及び運動支援方法、運動支援プログラムを提供することを目的とする。 Therefore, in view of the above problems in the present invention, even when wearing the sensor device on the human body trunk axis, exercise assistance can and TURMERIC rows landing determination of exactly the right and left foot device and motion The purpose is to provide support methods and exercise support programs.

本発明に係る運動支援装置は、
利用者の体幹軸上に装着されたセンサ部が計測して出力するセンサデータを取得するセンサデータ取得手段と、
前記センサデータから判定されるタイミングであって、かつ、前記利用者の左右の足のいずれかが着地した着地タイミングを基準とした所定のタイミングにおける、前記センサデータの第１の成分を用いて、前記着地タイミングにおいて着地した足が前記利用者の前記左右の足のいずれであるかを判定する左右着地判定手段と、
を有し、
前記センサ部は、前記利用者の進行方向をＹ軸とし、前記Ｙ軸の角速度データを前記センサデータの一部として出力し、
前記左右着地判定手段は、前記Ｙ軸の角速度データを前記センサデータの前記第１の成分として用いて、前記判定を行うことを特徴とする。 The exercise support apparatus according to the present invention includes:
Sensor data acquisition means for acquiring sensor data measured and output by the sensor unit mounted on the trunk axis of the user;
Wherein a timing is determined from the sensor data, and, at a predetermined timing in which any of left and right feet of the user relative to the landing timing landing, with the first component of the sensor data, Left and right landing determination means for determining which of the left and right feet of the user is a foot that has landed at the landing timing;
Have
The sensor unit, the traveling direction of the user as a Y-axis, and output the angular velocity data of the Y-axis as a portion of the sensor data,
The left and right landing determination means the angular velocity data before SL Y-axis is used as the first component of the sensor data, and performs the determination.

本発明に係る運動支援方法は、
利用者の体幹軸上に装着されたセンサ部が計測して出力するセンサデータを取得し、
前記センサデータから判定されるタイミングであって、かつ、前記利用者の左右の足のいずれかが着地した着地タイミングを基準とした所定のタイミングにおける、前記センサデータの第１の成分を用いて、前記着地タイミングにおいて着地した前記足が前記利用者の左右の足のいずれであるかを判定し、
前記判定において、前記センサ部は、前記利用者の進行方向をＹ軸とし、前記Ｙ軸の角速度データを前記センサデータの一部として出力し、前記Ｙ軸の角速度データを前記センサデータの前記第１の成分として用いて、前記判定を行うことを特徴とする。 The exercise support method according to the present invention includes:
Acquire sensor data measured and output by the sensor unit mounted on the trunk axis of the user,
Wherein a timing is determined from the sensor data, and, at a predetermined timing in which any of left and right feet of the user relative to the landing timing landing, with the first component of the sensor data, Determining whether the foot landing at the landing timing is the left or right foot of the user;
In the determination, the sensor unit, the traveling direction of the user as a Y axis, the angular velocity data of the Y-axis output as part of the sensor data, before SL Y-axis angular velocity data of the sensor data The determination is performed using the first component.

本発明に係る運動支援プログラムは、
コンピュータに、
利用者の体幹軸上に装着されたセンサ部が計測して出力するセンサデータを取得させ、
前記センサデータから判定されるタイミングであって、かつ、前記利用者の左右の足のいずれかが着地した着地タイミングを基準とした所定のタイミングにおける、前記センサデータの第１の成分を用いて、前記着地タイミングにおいて着地した前記足が前記利用者の左右の足のいずれであるかを判定させ、
前記判定において、前記センサ部は、前記利用者の進行方向をＹ軸とし、前記Ｙ軸の角速度データを前記センサデータの一部として出力し、前記Ｙ軸の角速度データを前記センサデータの前記第１の成分として用いて、前記判定を行わせることを特徴とする。 The exercise support program according to the present invention includes:
On the computer,
Sensor data that is measured and output by the sensor unit mounted on the user's trunk axis is acquired ,
Wherein a timing is determined from the sensor data, and, at a predetermined timing in which any of left and right feet of the user relative to the landing timing landing, with the first component of the sensor data, Determining whether the foot landing at the landing timing is the left or right foot of the user;
In the determination, the sensor unit, the traveling direction of the user as a Y axis, the angular velocity data of the Y-axis output as part of the sensor data, before SL Y-axis angular velocity data of the sensor data The determination is performed using the first component.

Claims

Sensor data acquisition means for acquiring sensor data measured and output by the sensor unit mounted on the trunk axis of the user;
Wherein a timing is determined from the sensor data, and, at a predetermined timing in which any of left and right feet of the user relative to the landing timing landing, with the first component of the sensor data, Left and right landing determination means for determining which of the left and right feet of the user is a foot that has landed at the landing timing;
Have
The sensor unit, the traveling direction of the user as a Y-axis, and output the angular velocity data of the Y-axis as a portion of the sensor data,
The left and right landing determination means the angular velocity data before SL Y-axis is used as the first component of the sensor data, the exercise support apparatus which is characterized in that the determination.

The sensor unit may further said orthogonal to the traveling direction, and a horizontal direction X axis to the ground, perpendicular, and the direction perpendicular to the ground as a Z-axis with respect to the traveling direction, the Y-axis in addition to the angular velocity data, and outputs the acceleration data of the X-axis, the angular velocity data before Symbol Z-axis as a portion of the sensor data,
The left and right landing determination means, in addition to performing the determination using the Y-axis angular velocity data as the first component of the sensor data, the X-axis acceleration data of the sensor data The exercise support apparatus according to claim 1 , wherein the determination is performed using a component, and the determination is performed using the Z-axis angular velocity data as the first component of the sensor data .

Before Symbol left and right landing determining means, by each of the determination, and the number of wear land paw is determined to be the right foot of the user, the number and of the called place the foot is determined to be the left foot of the user The exercise support apparatus according to claim 2, wherein, based on the comparison, it is determined which of the left and right feet is the foot that has landed at the landing timing.

Before SL right landing determining means, by each of the determination, the number of landing paw is determined to be the right foot of the user, the likelihood of the number of landing paw is determined to be the left foot of the user The exercise support apparatus according to claim 2, wherein, based on the landing timing, it is determined which of the left and right feet is the foot that has landed.

The left and right landing determination means intermittently performs the determination,
It has a measurement control means for setting the measurement of the angular velocity data of the Y-axis and the angular velocity data of the Z-axis by the sensor unit to an invalid state during a period when the left-right landing determination unit does not perform the determination. exercise support device according to any one of claims 2 to 4.

In the state where the measurement of the Y-axis angular velocity data and the Z-axis angular velocity data by the sensor unit is invalid, the measurement control unit is configured to detect the sensor when the user's state becomes a predetermined state. 6. The exercise support apparatus according to claim 5, wherein measurement of the Y-axis angular velocity data and the Z-axis angular velocity data by the unit is set to an effective state.

A display unit configured to display, in a predetermined form, an index relating to the motion state of the user's body, which is calculated based on a result of determining whether the left or right foot is determined by the left / right landing determination unit ; The exercise support device according to any one of claims 1 to 6.

A display unit that displays in a predetermined form an index related to the motion state of the user's body, which is calculated based on the result of the left / right landing determining means determining whether the foot is the left or right;
The exercise support according to claim 4 , wherein the left and right landing determination unit changes a display form of the index on the display unit according to a likelihood of a result of determining whether the foot is the left or right foot. apparatus.

The sensor unit further includes a direction orthogonal to the traveling direction and a direction horizontal to the ground as an X axis, a direction orthogonal to the traveling direction and a direction perpendicular to the ground as a Z axis, the X axis, Y-axis and Z-axis acceleration data is output as part of the sensor data,
The step determining means for detecting the landing timing using the acceleration data of the Z axis or the Y axis as a second component different from the first component of the sensor data. The exercise support apparatus according to any one of 1 to 8.

Acquire sensor data measured and output by the sensor unit mounted on the trunk axis of the user,
Wherein a timing is determined from the sensor data, and, at a predetermined timing in which any of left and right feet of the user relative to the landing timing landing, with the first component of the sensor data, Determining whether the foot landing at the landing timing is the left or right foot of the user;
In the determination, the sensor unit, the traveling direction of the user as a Y axis, the angular velocity data of the Y-axis output as part of the sensor data, before SL Y-axis angular velocity data of the sensor data The exercise support method, wherein the determination is performed using the first component.

On the computer,
Sensor data that is measured and output by the sensor unit mounted on the user's trunk axis is acquired ,
Wherein a timing is determined from the sensor data, and, at a predetermined timing in which any of left and right feet of the user relative to the landing timing landing, with the first component of the sensor data, Determining whether the foot landing at the landing timing is the left or right foot of the user;
In the determination, the sensor unit, the traveling direction of the user as a Y axis, the angular velocity data of the Y-axis output as part of the sensor data, before SL Y-axis angular velocity data of the sensor data An exercise support program that uses the first component to make the determination.